In recent years , The rise of industrial robots has improved the efficiency and safety of construction , However, due to the size and range of motion of the robot , It's difficult to show strength in large buildings . The UAV autonomous construction group of the Architecture Department of Shanghai Tongji University , The aim of aerial construction is to replace industrial robots with unmanned aerial vehicles , Research on autonomous construction system of UAV , The system is composed of UAV space position and attitude feedback and ground station trajectory control . The team will first arrange suitable scenes in a certain scale of site for UAV flight , Through the acquisition of UAV space posture , Design the ground station control system , Then the scale of the device can be expanded to the scale of real construction , Building construction .
The acquisition of UAV space pose , It's through NOKOV Metric optical 3D motion capture system as a spatial positioning system , It mainly depends on its high-precision capture to sub millimeter . At floor height 2.5m, The working area is about 5m*6m Under the environment of , The team used 8 A motion capture lens constitutes the UAV indoor positioning system . The motion capture lens captures special reflective landmarks fixed on the UAV , With 200Hz The frequency records the position information of the UAV in space . The data obtained is processed by a specific algorithm , Get the six degrees of freedom of the UAV 6DoF Information , Including three-dimensional space XYZ coordinate , Yaw angle Yaw, Roll angle Roll And pitch angle Pitch.
UAV positioning data （6DoF Data etc. ） The data of , It is acquired in real time by the flight control program in the control system , Use the self-contained sensor data LPE（Local Position Estimate） Calculation , It is used to update the position estimation of UAV relative to the global coordinate system in real time . And then through trajectory planning , Coordinate multiple UAVs to perform masonry 、 The mode of movement between multiple waypoints when carrying and other tasks , Ensure the safety of the aircraft and the correct masonry sequence during operation .
Based on the indoor motion capture system, the UAV independently builds a real-time control system and a visual interface platform , The team has completed all the building tests independently completed by the UAV , It is a step closer to achieving the goal of autonomous construction of unmanned aerial vehicles . Hope in the future , Motion capture technology can make UAV cooperative system in more disciplines 、 Realize cost optimization and efficiency improvement in the development of the industry , Play a great role .
reference ：[1] Guo zhe , Luming , Wang Xiang . A preliminary study on the autonomous construction technology of discrete structure based on UAV [J]. Architectural skills ,2019(09):40-45.
